KR102044340B1 - Estimation method of elevator control device and governor rope extension - Google Patents

Abstract

An elevator control device 16 having a current position calculator 21 that calculates a current position of a car based on a counter value of the governor encoder 15, wherein the current position calculator 21 is an imaginary plate detector. The state where (12, 13) detects any of the implantation plates 9 and 10 provided according to each floor position of a building and starts moving from the state which stopped and does not detect the implantation plates 9 and 10 The amount of movement until the count is calculated based on the counter value of the governor encoder 15, and the count error of the governor encoder caused by the expansion and contraction of the governor rope by comparing the calculated movement amount with the actual length of the implantation plate. By estimating, the amount of governor rope expansion and contraction on the floor where the movement is started is estimated.

Description

Estimation method of elevator control device and governor rope extension

The present invention relates to an elevator control apparatus and a method for estimating a governor rope expansion amount that estimate an error of the governor encoder caused by the expansion and contraction of the governor rope when the position of the car is detected using the governor encoder.

For example, Patent Document 1 discloses a conventional elevator. This conventional elevator is equipped with two governor speed detectors, and grasps the position of a cage | basket | car based on the detected value of these two governor speed detectors. For this reason, in an elevator with a long hoistway, even if the governor rope is stretched, it is possible to accurately grasp the position of the car.

Patent Document 1: Japanese Patent Laid-Open No. 2006-176215

However, the prior art has the following problems.

What is described in patent document 1 requires two governor speed detectors. For this reason, in a normal elevator, in order to consider the expansion and contraction of the governor rope, it is necessary to add a new governor speed detector.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems. An elevator control apparatus and a governor rope capable of estimating an error of the governor encoder caused by expansion and contraction of the governor rope without adding a new governor speed detector. An object of the present invention is to obtain a method for estimating a stretch amount.

An elevator control apparatus according to the present invention includes a current position calculator that calculates a current position of a car based on a counter value of a governor encoder output according to the rotation of the governor in which the governor rope connected to the car is wound. As a control device of an elevator, the current position calculator starts the movement from the state in which the imaginary plate detector provided in the car of the elevator detects and stops any of the imaginary plates provided according to each floor position of the building, and moves the imaginary plate. The amount of movement until the state of detection is not calculated is calculated based on the counter value of the governor encoder, and by comparing the calculated movement amount with the actual length of the implantation plate, By estimating the count error, Burners to estimate the ropes sinchukryang.

In addition, the method for estimating the governor rope expansion and contraction according to the present invention is based on the present value of calculating the current position of the car based on the counter value of the governor encoder output according to the rotation of the governor with the governor rope connected to the car. In the elevator control apparatus provided with the position calculator, as a method of estimating the amount of expansion and contraction of the governor rope stretched by the current position calculator, the implantation plate detector provided in the elevator car is any of the implantation plates provided according to each floor position of a building. The movement amount calculation step of calculating the movement amount from the state in which it is detected and stopped to the state where it is not detected, and the movement amount from the stationary plate to the state of not detecting the implantation plate based on the counter value of the governor encoder, and the movement amount calculation step. By comparison of movement amount and actual length of idea plate By estimating the count error of the governor encoder caused by the expansion and contraction of the governor rope, it has an estimation step of estimating the amount of expansion and contraction of the governor rope in the layer which started moving.

According to the present invention, in consideration of the length of the implantation plate detected by the implantation plate detector, a configuration capable of estimating the error of the governor encoder caused by the expansion and contraction of the governor rope is provided. As a result, it is possible to obtain an elevator control device and a method for estimating the amount of expansion and contraction of the governor rope, which can estimate the error of the governor encoder caused by the expansion and contraction of the governor rope without adding a new governor speed detector.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram of the elevator to which the elevator control apparatus in Embodiment 1 of this invention was applied.
It is a block diagram of the present position calculator provided in the control apparatus of the elevator in Embodiment 1 of this invention.
It is a block diagram of the governor rope expansion | extension amount estimator provided in the control apparatus of the elevator in Embodiment 1 of this invention.
It is a block diagram of the cage position calculator provided in the control apparatus of the elevator in Embodiment 1 of this invention.
It is explanatory drawing which shows the amount of expansion and contraction of the governor rope estimated by the control apparatus of the elevator in Embodiment 1 of this invention.
It is a block diagram of the elevator to which the control apparatus of the elevator in Embodiment 2 of this invention was applied.
It is a block diagram of the current position calculator provided in the control apparatus of the elevator in Embodiment 2 of this invention.
FIG. 8 is a flowchart showing a series of adjustment processing executed by the adjustment calculator for the output of the governor rope expansion and contraction estimator in Embodiment 2 of the present invention.
It is a block diagram of the elevator to which the control apparatus of the elevator in Embodiment 3 of this invention was applied.
It is a block diagram of the present position calculator provided in the control apparatus of the elevator in Embodiment 3 of this invention.
FIG. 11 is a flowchart showing a series of adjustment processing executed by the adjustment calculator for the output of the governor rope expansion and contraction estimator in Embodiment 3 of the present invention.
It is a block diagram of the elevator to which the control apparatus of the elevator in Embodiment 4 of this invention was applied.
It is an example of time-series information of the governor rope extension | contraction amount in the implantation operation period of the control apparatus of the elevator in Embodiment 4 of this invention.
It is a block diagram of the elevator to which the elevator control apparatus in Embodiment 5 of this invention was applied.
It is a block diagram of the elevator to which the control apparatus of the elevator in Embodiment 6 of this invention was applied.

EMBODIMENT OF THE INVENTION Hereinafter, preferred embodiment of the elevator control apparatus of this invention is described using drawing. In addition, the same code | symbol is attached | subjected to the same or corresponding part in each figure. Overlapping descriptions of these parts are appropriately simplified or omitted.

Embodiment 1.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram of the elevator to which the elevator control apparatus in Embodiment 1 of this invention was applied. In FIG. 1, the hoistway 1 penetrates each floor of the building which is not shown in figure. The motor 2 is provided in the upper part of the hoistway 1. The sheave 3 is provided in the upper part of the hoistway 1, and is attached to the rotating shaft of the motor 2. As shown in FIG. The main rope 4 is wound around the sheave 3.

The car 5 is provided inside the hoistway 1, and hangs on one end of the main rope 4. On the other hand, the balance weight 6 is provided inside the hoistway 1, and hangs on the other end of the main rope 4.

The governor 7 is provided at the top of the hoistway 1. The governor rope 8 is wound around the governor 7 and connected to the car 5.

Each of the plurality of door zone plates 9 is provided as a first landing plate at a position corresponding to the door zone on each floor in the hoistway 1. Each of the plurality of re-level zone plates 10 is provided as a second implantation plate at a position corresponding to the relevel zone on each floor in the hoistway 1. The length of the relevel zone plate 10 in the vertical direction is shorter than the length of the door zone plate 9 in the vertical direction.

The weight detection apparatus 11 is provided in the cage | basket | car 5 so that the weight value of the load in the cage | basket | car 5 can be detected. The door zone plate detector 12 is provided in the cage | basket | car 5 as a 1st idea plate detector. When the door zone plate detector 12 is disposed at the same height as the door zone plate 9, the door zone plate detector 12 detects the door zone plate 9, and when the door zone plate 9 detects the door zone plate 9. It is arranged to transmit a signal.

The relevel zone plate detector 13 is provided in the cage | basket | car 5 as a 2nd concept plate detector. When the relevel zone plate detector 13 detects the relevel zone plate 10 when the relevel zone plate detector 13 is disposed at the same height as that of the relevel zone plate 10, and detects the relevel zone plate 10. And a relevel zone signal.

The motor speed detector 14 is connected to the motor 2 and provided to transmit a motor encoder counter signal in accordance with the rotation speed of the motor 2. The governor speed detector 15 is connected to the governor 7 and is provided to transmit the governor encoder counter signal in accordance with the rotation speed of the governor 7.

The control device 16 includes a drive circuit 17, a speed controller 18, and a main controller 19. The main control unit 19 includes a travel command calculator 20, a current position calculator 21, and a speed command calculator 22.

The travel command calculator 20 calculates the travel command of the elevator and transmits the calculated travel command.

The current position calculator 21 receives the governor encoder counter signal from the governor speed detector 15. In addition, the current position calculator 21 receives a door zone signal from the door zone plate detector 12. In addition, the current position calculator 21 receives the relevel zone signal from the relevel zone plate detector 13.

The current position calculator 21 is based on the governor encoder counter signal, the door zone signal, the relevel zone signal, the starting floor information, the target floor information, the acceleration / deceleration pattern, and the start / stop signal. The position of the current car 5 is calculated.

The speed command calculator 22 receives a motor encoder counter signal from the motor speed detector 14. The speed command calculator 22 also receives a door zone signal from the door zone plate detector 12. The speed command calculator 22 receives the relevel zone signal from the relevel zone plate detector 13. The speed command calculator 22 also receives a travel command from the travel command calculator 20. The speed command calculator 22 also receives a signal regarding the position of the current car 5 from the current position calculator 21.

The speed command calculator 22 calculates the speed command value based on the governor encoder counter signal, the door zone signal, the relevel zone signal, the travel command, and the signal relating to the current position of the car 5. To calculate. The speed command calculator 22 transmits the starting floor information, the target floor information, the acceleration / deceleration pattern, and the start / stop signal to the current position calculator 21. The speed command calculator 22 also transmits the speed command value to the speed controller 18.

The speed controller 18 drives the drive circuit 17 based on the speed command value. The drive circuit 17 drives the motor 2 based on the speed command value. The sheave 3 rotates following the drive of the motor 2. The main rope 4 moves following the rotation of the sheave 3. The car 5 and the balance weight 6 move up and down at a desired speed following the movement of the main rope 4 along a guide rail (not shown).

Next, the function of the current position calculator 21 will be described in detail with reference to FIG. 2. FIG. 2: is a block diagram of the current position calculator 21 provided in the control apparatus of the elevator in Embodiment 1 of this invention. The current position calculator 21 includes a governor rope extension amount estimator 23, a governor rope extension amount storage 24, and a car position calculator 25.

The governor rope stretching amount estimator 23 is based on the governor encoder counter signal, the door zone signal, the relevel zone signal, and the start / stop signal, and the governor rope 8 corresponding to the floor on which the car 5 starts. ) Estimate the amount of expansion. The amount of expansion and contraction of the governor rope 8 corresponds to an error of the governor encoder generated by the expansion and contraction of the governor rope 8, that is, an error of the position of the car 5.

The governor rope expansion and contraction memory 24 according to the first embodiment has a memory function and a processing function. It is also possible to configure the governor rope stretch amount storage device 24 as a storage function only to read / write data to the governor rope stretch amount storage device 24 from a peripheral device. .

And the governor rope expansion | storing amount memory | storage machine 24 correlates the estimated value of the amount of expansion and contraction of the governor rope 8 estimated by the governor rope expansion | stretching amount estimator 23 with the mobile floor information, and the governor rope 8 of each layer. I remember it as the amount of expansion and contraction.

Further, the governor rope stretching amount storage unit 24 interpolates from a plurality of layers of information on which the stretching amount of the governor rope 8 is estimated in terms of the layers on which the stretching amount of the governor rope 8 is not estimated. The information on the amount of expansion and contraction of the governor rope 8 estimated by interpolation and the layered information are stored in association with each other.

Each time the governor rope extension amount estimator 23 estimates the extension amount of the governor rope 8, the governor rope extension amount memory 24 updates the information of the extension amount of the governor rope 8 associated with the layer. Remember again.

Then, the governor rope extension amount storage device 24 transmits the information of the extension amount of the governor rope 8 associated with the floor corresponding to the target floor information of the car 5. In addition, the governor rope extension amount storage device 24 transmits the estimated value of the extension amount of the governor rope 8 by the governor rope extension amount estimator 23 and the layered information in response to an instruction from the outside. do.

The car position calculator 25 has a governor rope 8 associated with the floor corresponding to the governor encoder counter signal, door zone signal, relevel zone signal, acceleration / deceleration pattern, and target floor information of the car 5. Based on the estimated value of the amount of expansion / contraction, the position of the current cage | basket | car 5 is computed.

Next, the function of the governor rope expansion amount estimator 23 is demonstrated in detail using FIG. FIG. 3 is a configuration diagram of the governor rope extension amount estimator 23 provided in the elevator control device according to the first embodiment of the present invention.

The governor rope stretch estimator 23 includes a door zone plate length reservoir 26, a relevel zone plate length reservoir 27, a first reservoir 28, a second reservoir 29, A third reservoir 30 and a selector 31 are provided.

The door zone plate length reservoir 26 stores information about the length of the door zone plate 9 which is a design fixed value. On the other hand, the relevel zone plate length storage device 27 stores information about the length of the relevel zone plate 10 which is a design fixed value.

The first storage unit 28 stores information on the value corresponding to the governor encoder counter signal when the car 5 starts the N floor (N is an integer) based on the start / stop signal. do. Based on the relevel zone signal, the second reservoir 29 corresponds to the N-level governor encoder counter signal when the car 5 exits the N-level relevel zone after leaving the N-layer. Stores information about the value. Further, the third reservoir 30 is a value corresponding to the N floor governor encoder counter signal when the car 5 further travels and exits the N floor door zone based on the door zone signal. Stores information about

The selector 31 includes a door zone plate length reservoir 26, a relevel zone plate length reservoir 27, a first reservoir 28, a second reservoir 29, and a third reservoir 30. An estimate of the amount of expansion and contraction of the governor rope 8 is selected from the plurality of types of estimates obtained from the information stored in each of. The selector 31 also transmits the selected estimate as an estimate of the amount of expansion and contraction of the governor rope 8 corresponding to the starting layer.

Here, in explaining the calculation method of an estimated value, each value is defined with the following symbols.

Z1: 1/2 length of the length of the relevel zone plate 10

Z2: 1/2 length of the length of the door zone plate 9

C1: Value corresponding to the governor encoder counter signal stored in the first storage unit 28

C2: Value corresponding to the governor encoder counter signal stored in the second storage unit 29

C3: Value corresponding to the governor encoder counter signal stored in the third storage unit 30

For example, the selector 31 selects the estimated value A of the amount of expansion and contraction of the governor rope 8 represented by the following formula (1).

Estimate A (N) = Z1- (C2-C1) (1)

For example, the selector 31 selects the estimated value B of the amount of expansion and contraction of the governor rope 8 represented by the following formula (2).

Estimate B (N) = Z2- (C3-C1) (2)

For example, the selector 31 selects the estimated value C of the amount of expansion and contraction of the governor rope 8 represented by the following formula (3).

Estimated value C (N) = (Z2-Z1)-(C3-C2) (3)

In addition, when calculating the estimated value A (N), the estimated value B (N), and the estimated value C (N), in order to remove the influence by the difference in the stop position of the car, the conception error of the car position is approximately zero. After correcting this, it is conceivable to perform the calculation operation of these estimates.

In addition, when the estimated value A (N), estimated value B (N), and estimated value C (N) differ by more than a certain allowance at the time of the ascending and descending of the car 5, the estimated value is divided into ascending and descending time. It is conceivable to calculate and store each of the first reservoir 28, the second reservoir 29, and the third reservoir 30 separately in the rising / falling time.

Next, the function of the cage | basket | car position calculator 25 is demonstrated in detail using FIG. 4 is a configuration diagram of a car position calculator 25 provided in the elevator control device according to the first embodiment of the present invention.

The car position calculator 25 shown in FIG. 4 is provided with an integrator 32 and a governor rope expansion / extension corrector 33. In addition, the governor rope expansion and contraction amount corrector 33 includes a correction value calculator 34 and a switch 35.

The integrator 32 calculates the position of the temporary car 5 by integrating a value corresponding to the governor encoder counter signal.

The governor rope stretch amount corrector 33 estimates the amount of stretch of the governor rope 8 corresponding to the target layer from the governor rope stretch amount storage 24, the door zone signal of the target layer, and the relevel zone signal of the target layer. And the deceleration pattern signal are used to correct the amount of expansion and contraction of the governor rope 8.

Specifically, the correction value calculator 34 in the governor rope stretch amount corrector 33 includes an estimated value of the amount of stretch of the governor rope 8 corresponding to the target layer, a deceleration timing by the deceleration pattern signal, and a relevel zone of the target layer. The correction value of the amount of expansion and contraction of the governor rope 8 is calculated using the timing by the signal, the timing by the door zone signal of the target layer, and the like.

In addition, when the switch 35 is not receiving the deceleration pattern signal, the switch 35 is switched to stop the transmission of the correction value of the amount of expansion and contraction of the governor rope 8 from the correction value calculator 34. On the other hand, when the switch 35 is receiving the deceleration pattern signal, the switch 35 is switched to transmit a correction value of the amount of expansion and contraction of the governor rope 8 from the correction value calculator 34.

At this time, the position of the current car 5 is determined by the value of the position of the temporary car 5 transmitted from the integrator 32 of the governor rope 8 from the governor rope expansion and volume corrector 33. It is calculated by subtracting the correction value of the amount of expansion and contraction.

Next, the estimation value of the amount of expansion and contraction of the governor rope 8 is demonstrated using FIG. It is explanatory drawing which shows the amount of expansion and contraction of the governor rope estimated by the control apparatus of the elevator in Embodiment 1 of this invention. 5 is the ratio (%) of the distance from the lowest floor to all the lifting strokes of the car 5. In addition, the vertical axis | shaft of FIG. 5 is the estimated value (mm) of the amount of expansion and contraction of the governor rope 8 memorize | stored in the governor rope extension amount memory | storage device 24. As shown in FIG.

As shown in FIG. 5, as the ratio of the distance from the lowest floor to all the lifting strokes of the car 5 is lower, the estimated value of the amount of expansion and contraction of the governor rope 8 stored in the governor rope expansion and storage memory 24 is estimated. Big. That is, the closer to the lowermost layer, the larger the amount of expansion and contraction of the governor rope 8 is.

As described above, the control device of the elevator according to the first embodiment considers the length of the implantation plate detected by the relevel zone plate detector or the door zone plate detector when the movement is started, and relates to the stationary floor image at the start of movement. And a configuration capable of estimating an error of the governor encoder caused by the expansion and contraction of the governor rope. For this reason, the error of the governor encoder which arises by expansion and contraction of a governor rope can be estimated, without adding a new governor speed detector.

As a result, the position of the cage | basket | car 5 can be grasped | acquired correctly even when the governor rope 8 expands and contracts by spring characteristic at the time of the acceleration / deceleration of the cage | basket | car of long elevators, such as a skyscraper. have.

Moreover, when the control apparatus of the elevator which concerns on Embodiment 1 was in the state which detects an implantation plate from the state in which the door zone plate detector did not detect an implantation plate in the deceleration for stopping a car to stop on a target floor. It is equipped with the structure which can correct the position of a cage | basket | car by using the estimated error of the governor encoder which arises by the expansion and contraction of the governor rope already computed. Therefore, even when the car decelerates and lands, the position of the car can be grasped accurately. As a result, it is possible to suppress an error in conception of the car and vibration at the time of conception of the car, thereby improving the riding comfort of the car.

Moreover, the control apparatus of the elevator by Embodiment 1 is equipped with the structure which stores the information regarding the error of the governor encoder which arises by expansion | contraction of a governor rope, and layered information in association. For this reason, the position of a car can be grasped correctly according to the position on each floor.

In the elevator control apparatus according to the first embodiment, the error of the governor encoder caused by the expansion and contraction of the governor rope is estimated with respect to the floor on which the error of the governor encoder caused by the expansion and contraction of the governor rope is not estimated. On the basis of the plurality of layered pieces of information, a configuration is provided in which the error information of the governor encoder caused by the expansion and contraction of the governor rope estimated by interpolation and the layered information are stored in association with each other. For this reason, the position of a car can also be grasped | ascertained appropriately also on the floor on which a car first ideas.

Moreover, the control apparatus of the elevator by Embodiment 1 produces | generates by the expansion | contraction of the governor rope corresponding to a layer whenever the governor rope expansion amount estimator estimates the error of the governor encoder which arises by expansion and contraction of the governor rope. It is provided with the structure which updates the information of the error of a governor encoder, and stores it again. For this reason, it can respond also to the aging change of the elasticity characteristic of a governor rope.

In addition, the elevator control apparatus according to the first embodiment can transmit the information of the error of the governor encoder caused by the expansion and contraction of the governor rope estimated by the governor rope expansion and contraction estimator to the outside in correspondence with the layered information. It is equipped with the structure. For this reason, the information of the error of the governor encoder which arises by expansion | contraction of a governor rope at the time of maintenance work of an elevator, etc. can be utilized effectively.

Embodiment 2.

In the second embodiment, in the elevator control apparatus of the first embodiment, the governor rope stretching amount estimator 23 in the current position calculator 21 detects an error due to the dynamic characteristic of the governor mechanism. It will be described how to respond to the case occurs.

It is a block diagram of the elevator to which the control apparatus of the elevator in Embodiment 2 of this invention was applied. The structure of FIG. 6 in this Embodiment 2 is the same as the structure of FIG. 1 in above Embodiment 1 except the addition of a part added or changed. Therefore, about the same element, detailed description is abbreviate | omitted and it demonstrates below centering on the adjustment calculator 50 newly added.

The adjustment calculator 50 detects that the adjustment operation is performed by receiving the adjustment processing start signal from the travel command calculator 20. Moreover, the adjustment calculator 50 acquires the idea of the measurement error based on the actual position of the car in the target floor after performing the adjustment operation by input operation of the measurement result by a maintenance worker. And the arithmetic operation unit 50 performs an operation for adjusting the output of the governor rope expansion amount estimator 23 on the basis of the conception measurement information, and transmits an amplification rate command signal to the current position calculator 21. do.

Next, the function of the present position detector 21 in the second embodiment will be described in detail with reference to FIG. 7. FIG. 7: is a block diagram of the current position calculator 21 provided in the control apparatus of the elevator in Embodiment 2 of this invention.

The basic configuration of the current position calculator 21 is the same as that of the current position calculator 21 of Embodiment 1 shown in FIG. Therefore, the detailed description of the same element is omitted, and will be described below with reference to the newly added amplification factor corrector 40.

The amplification factor corrector 40 is inserted between the governor rope stretch amount estimator 23 and the governor rope stretch amount storage 24. Then, the amplification factor corrector 40 receives the transmission signal from the governor rope expansion amount estimator 23 and the transmission signal from the adjustment calculator 50, and outputs the signal after the amplification factor correction to the governor rope expansion amount storage unit 24. To send).

The information output from the governor rope extension amount estimator 23 includes the moving floor information and the governor rope extension amount estimation information. On the other hand, the amplification factor corrector 40 does not process starting layer information among these two pieces of information, but performs processing based on the transmission information from the adjusting operator 50 only for the governor rope extension amount estimation information. .

Specifically, the amplification factor corrector 40 multiplies the amplification factor corresponding to the amplification factor command signal obtained from the adjusting operator 50 with respect to the governor rope extension amount estimation value information, and multiplies the multiplication result by the governor rope extension amount. It transmits to the memory 24.

FIG. 8 is a flowchart showing a series of adjustment processing executed by the adjustment calculator 50 with respect to the output of the governor rope extension amount estimator 23 in Embodiment 2 of the present invention. The adjustment process in this Embodiment 2 is performed with the following procedure.

First, in step S801, when the adjustment calculator 50 receives the adjustment processing start signal from the operation command calculator 20, in performing the adjustment operation, the initializing setting is made by doubling the amplification ratio information that is the amplification rate command signal. do. Next, in step S802, after the adjustment operation of an elevator is performed by the control apparatus 16, the adjustment calculator 50 acquires the conception error measurement information input by the maintenance worker based on a measurement result.

The adjustment operation of the above-mentioned elevator is specifically as follows. First, the control apparatus 16 moves the cage | basket | car 5 by making the floor which you want to adjust to be a starting floor, and using the preset floor as a target floor. In this movement operation, the amplification factor corrector 40 obtains an estimated moving layer governor rope extension amount estimated by the governor rope extension amount estimator 23 and transmits it to the governor rope extension amount storage 24. do.

Next, the control apparatus 16 sets the target floor to be adjusted, performs a movement operation with correction using an estimated value, returns to the floor to be adjusted, and then measures the implantation error measurement information to the maintenance worker. Let's do it. The above description of the adjustment operation has been made.

Next, in step S803, the adjustment calculator 50 determines whether the acquired idea error measurement information is within the evaluation reference range. If the idea of the measurement error falls within the evaluation reference range, the process proceeds to step S804, where the adjustment calculator 50 stores the current amplification factor information, and ends the serial processing.

On the other hand, when the implantation error measurement information does not fall into the evaluation criteria, the flow advances to step S805, and the calculation calculator 50 determines whether the implantation error measurement information has exceeded the evaluation criterion range or the implantation error measurement information is the evaluation criteria. Determines if the range has not been reached.

When it is determined that the implantation error measurement information has exceeded the evaluation criterion range, the adjustment calculator 50 proceeds to step S806 to increase the amplification factor by a predetermined increase amount with respect to the current set value, and to step S802. Go back.

On the other hand, when it is determined that the implantation error measurement information has not reached the evaluation reference range, the adjustment calculator 50 proceeds to step S807 to reduce the amplification factor by a predetermined reduction amount relative to the current set value, and step S802. Return to

And when returning to step S802 via step S806 or step S807, the control apparatus 16 will adjust and operate an elevator again using the updated new amplification factor. Then, serial processing is continued until the conception error information acquired after the adjustment operation falls within the evaluation reference range.

By the serial process of FIG. 8, the estimated governor rope stretch amount of the governor rope stretch amount estimator 23 which detects the governor rope stretch amount can be corrected, so that an appropriate amplification factor at which the implantation error becomes the evaluation reference range can be obtained. As a result, the elevator control apparatus which can reduce the detection error by the dynamic characteristic of a governor mechanism can be implement | achieved.

In addition, as described above with reference to FIG. 5 in Embodiment 1, the amount of expansion and contraction of the governor rope 8 changes in each layer. For this reason, it is necessary to also change a correction value corresponding to the change of the amount of expansion and contraction in each layer.

With respect to the estimated governor rope expansion and contraction value, a method of adding an implantation error on each layer as a correction value can also be considered. However, in this method, since the correction value in each layer changes, it is necessary to acquire the value corresponding to each layer, and it requires time for adjustment.

On the other hand, the correction method in Embodiment 2 of this invention correct | amends at the amplification factor which made the conception error a parameter with respect to the estimated governor rope extension amount. Therefore, it is possible to cope with a common amplification rate with respect to the change of the correction value in each layer, and it is not necessary to adjust in each layer.

As described above, according to the second embodiment, even when a detection error occurs due to the dynamic characteristics of the governor mechanism, the amplification factor for correcting the governor rope expansion and contraction estimate is provided. As a result, the detection error resulting from a dynamic characteristic can be correct | amended, and an idea of an idea can be made into the appropriate value used as an evaluation reference range.

Embodiment 3.

In the second embodiment, when the amplification ratio adjustment processing is performed, when the implantation error measurement information exceeds the evaluation reference range, a predetermined increase amount is added, and the implantation error measurement information has not reached the evaluation reference range. If not, the subtraction of the predetermined decrease amount was performed.

However, in such an adjustment process, when the predetermined increment amount and the decrease amount are not appropriate values, there is a possibility that a condition that does not converge quickly may occur. For example, when the amount of increase or decrease is smaller than the appropriate value, there is a problem that a number of trials is required until the conception error converges to the evaluation reference range. On the contrary, when the amount of increase or decrease is larger than the appropriate value, there is a problem that the conception error does not converge to the evaluation reference range and diverges.

In the third embodiment, the detection error correction processing of the governor rope expansion / extension estimator 23 is compared with the correction processing in the second embodiment, and a method that can be performed more quickly and stably will be described.

It is a block diagram of the elevator to which the control apparatus of the elevator in Embodiment 3 of this invention was applied. 10 is a block diagram of the present position calculator 21 provided in the elevator control apparatus in the third embodiment of the present invention. The structure of FIG. 9 in this Embodiment 3 is the same as the structure of FIG. 6 in above Embodiment 2 except for a part which added or changed. Therefore, about the same element, detailed description is abbreviate | omitted and it demonstrates below centering on the correction process newly added.

The adjustment calculator 50 in the third embodiment is further compared with the adjustment calculator 50 in the second embodiment, and an estimate of the starting layer governor rope expansion and contraction amount from the current position calculator 21. It has a function of receiving, calculating an amplification factor, and transmitting an amplification rate command signal to the current position calculator 21.

Here, in describing the adjustment process of the amplification factor performed by the adjustment calculator 50, in relation to the two pieces of information received by the adjustment calculator 50, the conception error measurement information may be signal A, the starting layer governor rope extension amount estimate value. Is called signal B.

FIG. 11 is a flowchart showing a series of adjustment processing performed by the adjustment calculator 50 with respect to the output of the governor rope extension amount estimator 23 in Embodiment 3 of the present invention. In addition, step S801-step S804 in FIG. 11 are the same as the process of FIG. 8 in previous Embodiment 2. As shown in FIG. The adjustment process in Embodiment 3 is performed by the following procedure.

First, in step S801, when the adjustment calculator 50 receives the adjustment processing start signal from the operation command calculator 20, in performing the adjustment operation, the initializing setting is made by doubling the amplification ratio information that is the amplification rate command signal. do. Next, in step S802, the adjustment calculator 50 acquires, as a signal A, the conception error measurement information input by the maintenance staff after the adjustment operation of the elevator is executed by the control device 16.

The adjustment operation of the above-mentioned elevator is specifically as follows. First, the control apparatus 16 moves the cage | basket | car 5 by making the floor which you want to adjust to be a starting floor, and making a target floor into a preset floor. In this movement operation, the amplification factor corrector 40 acquires the estimated moving layer governor rope extension amount estimated by the governor rope extension amount estimator 23 as the signal B, and compares the governor rope extension amount storage 24 with the governor rope extension amount storage 24. Together, it transmits to the adjustment calculator 50.

Next, the control device 16 sets the target floor to be the target floor, executes a movement operation with correction using the estimated value, returns to the floor to be adjusted, and then gives a signal to the maintenance worker as measurement error measurement information. Measure A.

Next, in step S803, the arithmetic operation unit 50 determines whether the signal A which is the acquired conception error measurement information is in the evaluation reference range. If the idea of the measurement error falls within the evaluation reference range, the process proceeds to step S804, where the adjustment calculator 50 stores the current amplification factor information, and ends the serial processing.

On the other hand, when the signal A which is the idea of measurement error measurement information does not fall within the evaluation reference range, the process proceeds to step S1101, and the adjusting calculator 50 acquires the estimated starting layer governor rope expansion and contraction amount as the signal B. In addition, in step S1102, the arithmetic operator 50 determines the amplification factor of the signal B which is an estimate of the starting layer governor rope extension amount based on two signals, a signal A and a signal B. FIG.

Therefore, the amplification factor is defined as a function F that takes the signals A and B as parameters, and can be represented by the following equation (4).

Amplification factor = F (signal A, signal B) (4)

The function F which determines the amplification rate command signal can be set as follows, for example. The amplification factor corrector 40 multiplies the amplification factor received as the amplification factor command signal with respect to the signal B which is an estimate of the starting layer governor expansion and contraction amount, and obtains a multiplication result. Here, it is ideal that the multiplication result is ((signal A) + (signal B)) which is a signal obtained by correcting the signal A which is the idea of measurement error measurement information. In this case, the error of the idea can be zero.

Therefore, the amplification factor corresponding to the amplification factor command signal can be defined as a function of the following equation (5), for example.

Amplification

= F (signal A, signal B)

= ((Signal A) + (signal B)) / (signal B) (5)

After setting the amplification factor using Equation (5) above, the process returns to step S802 and the process after the adjustment operation is performed again. The amplification factor adjustment process continues until the idea of the error of the idea is within the evaluation reference range, but in principle, the number of times of the determination process is shortened to two or less times.

Although not shown in the flowchart of FIG. 11, if the conception error does not converge within the evaluation criteria range within two times, the following adjustment can be performed. That is, the adjustment calculator 50 stores the information of the first and second amplification rate command values and the implantation error assuming an XY plane in which the amplification rate command value is the X axis and the amount of the implantation error amount is the Y axis. Then, the adjusting calculator 50 plots the first and second results on the XY plane, calculates the X intercept of the straight line passing through these two points, and sets it as the amplification factor. By calculating the amplification factor in this way, the conception error can be made substantially zero.

By providing the serial process shown in FIG. 11, it becomes possible to quickly correct a governor rope expansion-contraction amount estimate, and to obtain the appropriate amplification ratio which makes an idea of an implantation error range.

As described above, according to the third embodiment, even when a detection error occurs due to the dynamic characteristics of the governor mechanism, it is provided with a configuration capable of quickly calculating an amplification factor for correcting the estimated governor rope expansion amount. As a result, it becomes possible to correct the detection error resulting from the dynamic characteristic, and to obtain the appropriate amplification factor which makes an implantation error into an evaluation reference range.

In addition, it is possible to reduce the number of trials until the detection error converges to the evaluation reference range, so that it is possible to quickly obtain an appropriate amplification factor in which the implantation error is used as the evaluation reference range.

Embodiment 4.

In the first embodiment, the amplification factor correction processing effective for a device in which the dynamic characteristics of the governor rope expansion and contraction respond to the deceleration pattern signal without time delay has been described. On the other hand, in Embodiment 4, the amplification factor correction process in the case where the dynamic characteristics of the governor rope expansion and contraction time has a time delay with respect to the deceleration pattern signal is demonstrated.

In an elevator having a long lifting stroke, the dynamic characteristics of the governor rope expansion and contraction may have a high-pass blocking characteristic with respect to the deceleration pattern signal. In this case, the dynamic characteristics of the governor rope expansion and contraction cause a time delay or waveform change with respect to the deceleration pattern signal. This time delay and waveform fluctuations are a factor in the estimation error of the governor rope expansion and contraction estimator, and as a result, there is a problem that an implantation position error of the car 5 occurs.

In the fourth embodiment, therefore, the amplification factor correction processing, which is effective when the dynamic characteristics of the governor rope stretching amount has a high-pass cutoff characteristic with respect to the deceleration pattern signal, will be described.

It is a block diagram of the elevator to which the control apparatus of the elevator in Embodiment 4 of this invention was applied. The structure of FIG. 12 in this Embodiment 4 is the same as the structure of FIG. 1 in above Embodiment 1 except the addition of a part added or changed. Therefore, about the same element, detailed description is abbreviate | omitted and demonstrated below centering on the newly added low-pass filter 60. FIG. In addition, this low pass filter 60 is corresponded to the characteristic correction part which correct | amends based on the dynamic characteristic of a governor rope expansion amount with respect to the current position of a car.

The low pass filter 60 receives time series information of the current car position from the current position calculator 21, and receives a signal obtained by performing a filter operation that cuts a high frequency band on the received time series information. 22).

Next, with reference to FIG. 13, the dynamic characteristic of the governor rope expansion amount in Embodiment 4 of this invention is demonstrated. It is an example of time-series information of the governor rope extension | contraction amount in the implantation operation period of the control apparatus of the elevator in Embodiment 4 of this invention.

In FIG. 12, a dotted line is a deceleration pattern signal which was read for reference. This deceleration pattern signal makes the acceleration of a car the unit of a vertical axis | shaft, and draws it, making time axis match with time-series information of a governor rope extension amount.

The dynamic characteristic of the governor rope expansion and contraction amount in this example is a characteristic that the start and end portions of the trapezoidal waveform are smoothly changed in the time axis with respect to the trapezoidal waveform which is the deceleration pattern signal. This characteristic is a characteristic which cut | disconnected the high frequency band with respect to the deceleration pattern signal.

Such a high pass blocking characteristic can be simulated by a low pass filter. The low pass filter can be realized by, for example, a transfer characteristic represented by the following formula (6).

LPF (s) = 1 / (Ts + 1) (6)

LPF (s) represents a transfer function of the low pass filter, and T is a time constant. By changing the time constant T in the above formula (6), it is possible to simulate the dynamic characteristics of the governor rope expansion and contraction with a smaller error than before.

Time series information of the current car position output by the current position calculator 21 is a signal synchronized with the deceleration pattern signal. Therefore, the time series information of the current car position does not simulate the dynamic characteristics of the governor rope extension amount, that is, the high frequency cutoff characteristic.

Therefore, when passing through the low pass filter as shown in the above formula (6), the current car position simulating the dynamic characteristics of the governor rope expansion and contraction with a smaller error than before. You can get time series information of.

This information expresses the position of the cage | basket | car 5 more accurate than before. Therefore, when the low-frequency communication filter 60 transmits time series information of the current car position to the speed command calculator 22 after passing the low-pass filter, the conception position error of the car 5 and the elevator The vibration at the time of implantation of the compartment 5 can be suppressed. Such a restraining effect can improve the riding comfort of the car 5.

As described above, according to the fourth embodiment, when the dynamic characteristics of the governor rope expansion and contraction have a time delay with respect to the deceleration pattern signal, a low pass filter for simulating the primary delay is provided. As a result, it is possible to suppress the conception position error of the car caused by the primary delay and the vibration at the time of conception.

Embodiment 5.

It goes without saying that the configuration including the low pass filter 60 described in the fourth embodiment can also be applied to the configuration of the second embodiment. It is a block diagram of the elevator to which the control apparatus of the elevator in Embodiment 5 of this invention is applied. By setting it as such a structure, also in previous Embodiment 2, the effect of suppressing the landing position error of the cage | basket | car and the vibration at the time of implantation resulting from a primary delay can be added.

Embodiment 6.

It goes without saying that the configuration including the low pass filter 60 described in the fourth embodiment can also be applied to the configuration of the foregoing third embodiment. It is a block diagram of the elevator to which the control apparatus of the elevator in Embodiment 6 of this invention was applied. By setting it as such a structure, also in previous Embodiment 3, the effect which suppresses the landing position error of the cage | basket | car and the vibration at the time of implantation resulting from a primary delay can be added.

Claims (14)

A control apparatus for an elevator provided with a current position calculator for calculating a current position of the car based on a counter value of the governor encoder output according to the rotation of the governor wound around the governor rope connected to the car.
The current position calculator is a state in which the imaginary plate detector provided in the car of the elevator starts moving from a state in which any imaginary plate provided according to each floor position of the building is stopped and stopped, and does not detect the imaginary plate. The governor encoder produced by the expansion and contraction of the governor rope by a comparison of the calculated movement amount and the actual length of the implantation plate, calculated on the basis of the counter value of the governor encoder. By estimating the count error of, the amount of governor rope expansion and contraction on the floor which started the movement is estimated,
The current position calculator,
A stretch amount estimator for estimating the count error corresponding to the starting layer when starting to move from the starting layer;
A stretch amount storage unit for storing information of the count error estimated by the stretch amount estimator in correspondence with the layer information corresponding to the starting layer;
During the deceleration stop operation when the car moves on the starting floor where the count error has been calculated as the target floor, the state of the platen detector detects the state from which the plate of the target floor is not detected. At one timing, the current position of the car is calculated by extracting a count error stored in the stretch amount storage unit as a value corresponding to the target floor, and correcting a counter value of the governor encoder by the extracted count error. An elevator control device having a car position calculator. delete The method according to claim 1,
The stretch estimator estimates the count error in each starting floor for starting movement, and associates the estimated count error information with the information on the floor corresponding to the starting floor, and stores the stretch amount in an elevator storage memory. controller. The method according to claim 1,
The stretch amount estimator is based on the count error corresponding to the plurality of layers when there is a layer in which a count error is not estimated and the count error corresponding to the plurality of layers has already been estimated and stored in the stretch amount storage. The elevator control apparatus which estimates the count error on the floor on which the count error is not estimated by interpolating, and stores it in the stretch amount memory. The method according to any one of claims 1, 3 and 4,
And each time the movement amount estimator starts moving from the starting floor, the count error is estimated and the data in the expansion amount memory is updated by the newly estimated count error. The method according to any one of claims 1, 3 and 4,
And the expansion / extension estimator has a function of reading data in the expansion-and-memory storage unit and transmitting the data to the outside in response to a request command from the outside. The method according to any one of claims 1, 3 and 4,
An elevator control apparatus further comprising a property correction unit for correcting the current position of the car output from the current position calculator based on the dynamic characteristics of the governor rope expansion and contraction amount. The method according to claim 7,
And the characteristic corrector comprises a low pass filter that blocks a high frequency band of the output of the current position calculator. The method according to any one of claims 1, 3 and 4,
The control apparatus of the elevator which acquires the measurement error measurement information measured when it stopped at the target floor, and adjusts the said count error estimated by the said stretch amount estimator based on the said idea of the measurement error measurement information. The method according to claim 9,
And the adjustment calculator calculates an amplification factor based on the implantation error measurement information, and performs adjustment by multiplying the amplification factor by the count error estimated by the stretch amount estimator. The method according to claim 10,
The arithmetic operator adjusts the amplification factor and makes a plurality of adjustments based on a result of determining whether the conception error measurement information is exceeded, within range, or not reached with respect to the evaluation reference range. Elevator control device that converges the amplification factor. The method according to claim 10,
And the adjustment calculator calculates the amplification factor based on the count error and the implantation error measurement information estimated by the stretch amount estimator. The method according to claim 12,
And the adjustment calculator calculates a value obtained by dividing an addition result of the count error and the idea of the measurement error by the count error as the amplification factor. In a control apparatus of an elevator provided with a current position calculator for calculating the current position of the car on the basis of the counter value of the governor encoder output in accordance with the rotation of the governor coil wound around the governor rope connected to the car of the elevator. A method for estimating the amount of stretch of the governor rope executed by the current position calculator,
The amount of movement from the state in which an imaginary plate detector provided in the car of an elevator detects and stops any of the imagination plates provided according to each floor position of a building, and starts moving, and does not detect the said imagination plate. A moving amount calculating step of calculating a value based on a counter value of the governor encoder;
Gabor on the floor which started the movement by estimating the count error of the governor encoder caused by expansion and contraction of the governor rope by comparing the movement amount calculated in the movement amount calculation step with the actual length of the implantation plate. An estimation step of estimating the amount of stretch of the rope,
A stretching amount estimating step of estimating the count error corresponding to the starting layer when starting to move from the starting layer,
A stretch amount storage step of storing information of the count error estimated by the stretch amount estimation in a stretch amount storage in association with the layered information corresponding to the starting layer;
During the deceleration stop operation when the car moves on the starting floor where the count error has been calculated as the target floor, the state of the platen detector detects the state from which the plate of the target floor is not detected. At one timing, the current position of the car is calculated by extracting a count error stored in the stretch amount storage unit as a value corresponding to the target floor, and correcting a counter value of the governor encoder by the extracted count error. Governor rope expansion and contraction estimation method which has cage position calculation step.

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